I am simulating a controlled robot arm with several degrees of freedom. The arm appears to behave as a stiff differential equation, so I want to use ODE 15s as the solver for the simulation. However, since the control law being tested will eventually be implemented on a microcomputer with a fixed timestep, I would like to still be able to run the control block at a fixed frequency (say, at 100Hz).

You can configure the model such that the portion of your model representing the algorithm on the microcontroller is evaluated at 100Hz if you use discrete blocks (and/or Rate Transition blocks) and set the sample time accordingly. Your Simscape Multibody model will be evaluated using ode15s. It will update at a minimum rate of 100Hz (max step size of 0.01), as it cannot take steps larger than the sample time of your controller.

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